#include "rclcpp/rclcpp.hpp"
#include "control.hpp"
#include "std_msgs/msg/string.hpp"
#include "std_msgs/msg/float32.hpp"

class ControlNode : public rclcpp::Node{
    public:
        explicit ControlNode(const std::string &node_name);
        void run();
        void control();
        rclcpp::TimerBase::SharedPtr timer_;
        rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
        rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr publisher_float_;
        Tool tool;
        std::shared_ptr<Control> control_ptr;
};